From 183ce50138087b8702ecc62fbf8ab94aa0c1db72 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 30 Apr 2020 08:46:55 +0900
Subject: [PATCH] AP_NavEKF3: check GPS used before resetting pos due to GPS
 receiver change

---
 libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index 152f250e18b65..94b3946d720c5 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -431,7 +431,7 @@ void NavEKF3_core::SelectVelPosFusion()
     selectHeightForFusion();
 
     // if we are using GPS, check for a change in receiver and reset position and height
-    if (gpsDataToFuse && PV_AidingMode == AID_ABSOLUTE && gpsDataDelayed.sensor_idx != last_gps_idx) {
+    if (gpsDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->_fusionModeGPS != 3) && (gpsDataDelayed.sensor_idx != last_gps_idx)) {
         // record the ID of the GPS that we are using for the reset
         last_gps_idx = gpsDataDelayed.sensor_idx;